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NEW YORK (MainStreet) — Do you feel a pang of guilt every time you take a trip without your beloved pet? Leaving a furry friend behind is one of the most difficult parts of being a pet owner, but you don't always have to exclude your animal from your travel plans. Many hotels around the country allow your pet to sleep in the same room with you and enjoy special amenities during your stay. Sounds just purr-fect, right? Here are some of the coolest pet-friendly hotels to check out.

The Curtis – A Doubletree Hotel

Located in downtown Denver, this stylish pop-culture–themed hotel welcomes dogs and cats of all shapes and sizes. Its Curtis K-9 Club offers complimentary perks for your four-legged friend, including dog walking by the bell staff, special treats and the use of food and water dishes. The hotel also gives your pet a shout-out by posting its name and photo on the K-9 Club sandwich board in the lobby.

Rates at The Curtis start at $159 per night, plus a $25 pet fee per day.

When you're not at the hotel, you can take your pooch to one Denver's dog-friendly bars and restaurants, such as The Bark Bar, featuring a full coffee bar; free Wi-Fi; a wide selection of craft beers, wine, spirits; and a fenced-in yard where dogs can play off-leash. Or head to Jake's Food & Spirits, which boasts a 100-seat, dog-friendly patio.

Hyatt Westlake Plaza in Thousand Oaks

If you're planning a visit to Southern California, consider staying at the Hyatt Westlake Plaza in Thousand Oaks, located between Los Angeles and Santa Barbara in the picturesque Conejo Valley. The pet-friendly hotel allows you to bring up to two dogs, but be sure to place your pooches on the scale before you book: dogs cannot weigh more than 50 pounds, and if you bring two dogs, their combined weight cannot exceed 75 pounds. Special perks for your animal include a plush 28-inch doggie bed and stainless-steel serving bowls in your room upon arrival. After relaxing in your room, take your dog on a hike through one of the area's many trails or embark on a short drive to Malibu beach.

Room rates start at around $179 per night and you'll be charged an extra $100 to have your dog (or dogs) stay in your guest room for up to a week. Each week thereafter will cost you an additional $100.

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Hotel Renew by Aston

Paradise awaits at this 72-room boutique hotel located just steps from Hawaii's Waikiki Beach—so why leave your pet out of the experience? Hotel Renew by Aston allows guests to bring up to two dogs per room weighing 20 pounds or less each. Your furry friend will receive a personal "paw-written" note by the hotel dog, Manju, along with special perks such as a dog bed, toy, food dish and special locally made treats upon check-in. Guests with pets must pay a $25 nightly pet fee and a $50 refundable pet deposit (call 888-HTLRNEW for room rates).

Lake House at High Peaks Resort

Enjoy an idyllic mountain getaway with your pet at Lake House at High Peaks Resort in Lake Placid, N.Y. Offering both modern luxuries and rustic charm, the Lake House features an open lobby reminiscent of a 1960s ski chalet with sweeping vistas of Mirror Lake and the surrounding Adirondack Mountains. Guestrooms provide waterfront access, lake views and a balcony or patio and are appointed with modern Adirondack décor, refrigerators, flat-screen TVs, movies and video games.

Guests can bring dogs that weigh up to 50 pounds, though sometimes exceptions are made if your pooch is heftier than that. Your pup will find plenty to do at the Lake House: after grabbing some treats from the hosts in the lobby, he or she can play on a large lawn and even swim with you in Mirror Lake. Rooms start at $189 per night this summer, and there is a flat fee of $50 per dog.

Hotel Burnham

This swanky boutique hotel in downtown Chicago is situated in a National Historic Landmark building dating back to 1895. A Kimpton hotel, Hotel Burnham offers old-world charm with modern amenities such as in-room massages, an onsite 24-hour fitness center and free high-speed Internet access. Its liberal pet policy is also one of its standout features.

Hotel Burnham allows your pets to share your hotel room for no extra charge and accepts any number of pets with no size or weight restrictions. Perks include a welcome treat at check-in, essential pet travel items, clean-up bags, a pet bed made of hypoallergenic fleece, food and water bowls with a dining mat, a disposable kitty litter tray, and dog walking and dog sitting services arranged through the concierge. Room rates start at $209 per night.

--Written by Kristin Colella for MainStreet